Endoscopic device insertable into a body cavity and movable in a predetermined direction, and method of moving the endoscopic device in the body cavity

ABSTRACT

In an endoscopic device insertable into a body cavity attachable elements are moved over one another to move forwardly of each other and to leave each other behind, and to move along different paths so as not to be attached to the same areas of a wall of the body cavity.

BACKGROUND OF THE INVENTION

The present invention relates to devices for endoscopic examinationwhich are movable in a body cavity in a predetermined direction withoutpushing from outside, for example in intestine and can carry equipmentthat are necessary for diagnostics and treatment of the intestine. Italso relates to a method of moving such devices in a body cavity.

There are many devices of this type; however they are not used inpractice. Medical personnel move medical instruments and diagnosticequipment into intestine manually. Taking into consideration that theintestine has a complicated shape and length about 1.5 meter it is quitea difficult problem for the medical personnel. During this process, theintestine is subjected to significant deformations which cause pain to apatient and sometimes perforations of an intestine wall. The abovementioned deformations are caused, because along the whole length of theintestine the direction of a force which moves the device and thedirection of its movement do not coincide with one another.

The devices disclosed in the patents are designed to solve this problem,so that the devices are moved in a self-moving manner and carry theequipment which is necessary for diagnostics and treatment. When thedevice is introduced into an intestine, it moves further under theaction of a force applied to its front part relative to the wall of theintestine and directed along the intestine. The movement is carried outby small steps, and within each of the steps the direction of movementcoincides with the direction of the applied force. As a result, thedeformations of the intestine should be minimal. However, in order toapply the force relative to the wall of the intestine, it is necessaryto provide a point of support. This poses the major problem since thewalls of the intestine are very slippery, thin and elastic in atransverse direction. In the known devices the corresponding elementsformed as legs, prongs, balloons, etc., still cause deformation of theintestine from inside when these elements try to engage the walls of theintestine.

U.S. Pat. No. 5,905,591 to Dario, et al discloses an endoscopic robotwhich, for its movement, provides points of support by means of vacuumattaching elements formed as two perforated cylinders located one behindthe other. The attaching elements formed in this way are not efficient,since the openings in them are very small. In addition they are arrangedover the whole surface of the cylinders, so that generation of a vacuumis not guaranteed. It suffices to have one opening which does not touchthe wall of the intestine, and the vacuum in the corresponding attachingelement disappears. If level of vacuum is increased in order to improveefficiency, the walls of the intestine can be damaged. Also, thenegative factor from the point of view of safety of intestine walls isthat during the movement the attaching elements formed in this way passthe same point twice, by the front attaching element and then by therear attaching element. Also, it is difficult to connect additionaldiagnostic or treatment elements to the device disclosed in thisreference.

Another device of this type is disclosed for example in U.S. publishedpatent application no. 2005/1054376. This application discloses a devicein which there are two attaching elements which are aligned with oneanother and are displaced by small steps consecutively one after theother over the same path in a longitudinal direction and alternatinglyattached to a wall of the intestine under the action of vacuum andpressure. While this device can be considered an improvement, thedisadvantage of this device is the particular trajectory of movement, inaccordance with which the two attaching elements move one after theother over the same line. When one of the attaching elements is detachedfrom the wall of the intestine the intestine is immediately deformedback, which causes the corresponding problems. It is believed that theexisting devices can be further improved.

SUMMARY OF THE INVENTION

Accordingly, it is an object of the present invention to provide anendoscopic device insertable into a body cavity and movable in apredetermined direction, which avoids the disadvantages of the priorart.

In keeping with these objects and with others which will become apparenthereinafter, one feature of the present invention resides, brieflystated, in an endoscopic device insertable into a body cavity movable ina predetermined direction, comprising a housing having an axis extendingin a direction substantially corresponding to a direction of movement ofthe device; movable attaching means which is movable relative to saidhousing and is attachable to a wall of the body cavity under the actionof vacuum in an interior of said movable attaching means and detachablefrom the wall of the cavity under the action of pressure provided in theinterior of said movable attaching means; and immovable attaching meanswhich is immovably connected with said housing and is attachable to awall of the body cavity under the action of vacuum in an interior ofsaid immovable attaching means and detachable from the wall of thecavity under the action of pressure provided in the interior of saidimmovable attaching means, said immovable attaching means and saidmovable attaching means being alternatingly attachable to the wall ofthe cavity; so that when said movable attaching means is attached to thewall of the cavity and said immovable attaching means is not attached tothe wall of the cavity, said housing can be displaced in the directionof movement, while when said immovable attaching means is attached tothe wall of the cavity, said movable attaching means can be displaced ina longitudinal direction without displacement of said housing, saidmovable attaching means and immovable attaching means being arranged sothat they are attachable to different locations on the wall of theintestine as considered in a direction transverse to said axis of saidhousing.

When the device is designed in accordance with the present invention, itis configured as a simple, inexpensive, safe and reliable device formoving without pushing from outside along the whole length of intestine,while carrying an equipment which is necessary for a doctor fordiagnostics and treatment of sicknesses of the intestine, for example avideo camera, surgical instruments, etc.

The device is beneficial for the patient, since the process of movementalong the intestine is not accompanied by significant deformation of theintestine and therefore does not cause pain. A significant surface ofthe attaching elements which contact with the walls of the intestineallows to obtain a reliable attachment with low level of vacuum. Thepresence of special grates additionally increases the attachment withthe intestine and makes possible a further reduction of vacuum.

The device has the system which prevents accumulation of mucus in theattaching elements and pipes which lead to them, and guarantees thereliable operation of the device during the whole procedure.

The exceptionally important feature is that when the device moves in onedirection, the attaching means are never attached to the same point ofthe intestine.

The unique feature of the new device is the automatic adaptation totransverse size of the intestine. The situation is optimal when thetransverse size of the device is somewhat smaller or equal to thetransverse size of the intestine. It is very important from the point ofview of ability of the device to move along the intestine, and at thesame time from the point of safety since it reduces pressure on itswalls. The majority of healthy people have a diameter or intestinebetween 20 mm and 60 mm. However, different portions or intestine canhave different diameters. In sick people these differences areincreased.

The transverse size of the device is determined by a maximum distancebetween the lateral attaching elements which are located at both sidesof the housing. The connection with the housing is carried out so thatthis lateral immovable attaching elements are immovable relative to thelongitudinal axis of the device but they have two degrees of freedomrelative to a transverse axis. After the device is introduced into theintestine, the lateral immovable attaching elements are spread tocontact the walls of the intestine. This is performed under the actionof a small force created by elastic pipes which are connected to theattaching elements. The magnitude of force which spreads the immovableattaching elements is selected so that they just touch the walls of theintestine and do not deform them. Therefore, in the process of movementof the device the lateral immovable attaching elements slide along theintestine, and the distance between them is determined directly by atransverse size of the intestine itself.

The device also satisfies the needs of doctors because it isexceptionally simple and low cost device. The device is composed ofseveral plastic parts which have low manufacturing costs, so that thedevice can be made as a disposable device and does not need anysterilization. The device also satisfies the requirements ofmanufactures, since it has a low cost and therefore can be priced with alow price for buyers thus increasing the market.

An additional important advantage of the device is a low degree ofintegration of the device with the instruments attached to it.Presently, the instruments used by doctors are designed so that theypass through an operation passage located inside a colonoscopic deviceand having its integral part. It applies significant demands to theinstruments. The concept of an open device in accordance with thepresent invention removes these limitations and opens new possibilitiesfor the manufactures of the instruments.

In accordance with another feature of the present invention anendoscopic device insertable into a body cavity movable in apredetermined direction has a housing having an axis extending in adirection substantially corresponding to a direction of movement of thedevice; first attaching means which is attachable to a wall of the bodycavity under the action of first in an interior of said movableattaching means and detachable from the wall of the cavity under theaction of pressure provided in the interior of said first attachingmeans; second attaching means which is attachable to a wall of the bodycavity under the action of vacuum in an interior of said secondattaching means and detachable from the wall of the cavity under theaction of pressure provided in the interior of said second attachingmeans, said first attaching means and said second attaching means beingalternatingly attachable to the wall of the cavity; so that and meansfor alternating attaching said first attaching means and said secondattaching means to the wall of the cavity one of said attaching means isattached to the wall of the cavity, then the other of said attachingmeans is moved forwardly of said one attaching means behind, then theone of said attaching means is moved forwardly of said other attachingmeans behind, etc.

In accordance with a further feature of the present invention a methodof inserting an endoscopic device into a body cavity and moving in apredetermined direction, comprising the steps of providing a housinghaving an axis extending in a direction substantially corresponding to adirection of movement of the device; providing first attaching meanswhich is movable relative to said housing and is attachable to a wall ofthe body cavity under the action of vacuum in an interior of said firstattaching means and detachable from the wall of the cavity under theaction of pressure provided in the interior of said first attachingmeans; providing second attaching means which is attachable to a wall ofthe body cavity under the action of vacuum in an interior of said secondattaching means and detachable from the wall of the cavity under theaction of pressure provided in the interior of said second attachingmeans; alternating attaching said first attaching means and said secondattaching means to the wall of the cavity by attaching one of saidattaching means to the wall of the cavity, then moving the other of saidattaching means forwardly of said one attaching means to leave said oneattaching means behind, then moving said one attaching means forwardlyof said other attaching means to leave said other attaching meansbehind, etc.

The novel features which are considered as characteristic for thepresent invention are set forth in particular in the appended claims.The invention itself, however, both as to its construction and itsmethod of operation, together with additional objects and advantagesthereof, will be best understood from the following description ofspecific embodiments when read in connection with the accompanyingdrawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 a is a perspective view of an endoscopic device insertable into abody cavity and movable in a predetermined direction as seen from belowin accordance with the present invention;

FIG. 1 b is a perspective view of an endoscopic device insertable into abody cavity and movable in a predetermined direction in accordance withthe present invention as seen from above;

FIGS. 2 a and 2 b are views showing details of an attaching element ofthe device in accordance with the present invention;

FIG. 3 is a view showing the inventive device with a partially removedfront part and showing further details of the device;

FIGS. 4 a and 4 b are views showing the endoscopic device in accordancewith the present invention insertable into a body cavity and located inan intestine with a smaller diameter and with a larger diametercorrespondingly;

FIGS. 5 a, 5 b and 5 c are view showing several embodiments of theattaching elements;

FIG. 6 is a view schematically showing corresponding steps of movementof the endoscopic device in accordance with the present inventioninsertable into a body cavity and movable in a predetermined direction;

FIG. 7 is a view showing a block-diagram of supply of vacuum/pressure toattaching elements of inventive device;

FIGS. 8 a and 8 b are views showing further embodiments of the attachingelements;

FIGS. 9 and 10 are views showing an endoscopic device in accordance withthe present invention with an additional equipment; and

FIG. 11 is a view showing a control equipment for the inventiveendoscopic device.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The endoscopic device in accordance with the present invention, which isinsertable into a body cavity and movable in a predetermined directionhas a housing which is identified with reference numeral 1. The housingis substantially elongated in a direction of a longitudinal axis anddoes not have any sharp edges to prevent damages to a wall of a bodycavity, such as an intestine. The housing 1 in its interior has anomega-shaped slot 2, shown in FIGS. 1 and 3 that extends in alongitudinal direction.

The device in accordance with the present invention has a movableattaching element which is identified with reference numeral 3. Themovable attaching element 3 is movable relative to the housing 1 andguided by the slot 2. In particular, a projection of the movableattaching element 3 engages in the slot 2 provided in the housing.

A force required for movement of the movable attaching element 3relative to the housing 1 and relative to a wall of the body cavity, forexample intestine, is generated by a power aggregate which can belocated in a control block, and is transmitted to the movable attachingelement through a transmission. The power aggregate can be formed as anymechanism which performs a reciprocal movement (a pneumaticcylinder-piston unit, an electrical solenoid, etc). the power aggregatecan be also located in/on the housing 1.

The transmission is formed as a well known mechanism, for exampleincluding a thin cable 5 which is located inside a flexible pipe 4. Thepipe 4 is connected to the housing 1 and also to a casing of the poweraggregate, while the cable 5 is connected with one end to the movableattaching element and with its opposite end to an element of the poweraggregate which performs the reciprocating movement. FIG. 1 b shows theomega-shaped slot 2 and the point of connection of the cable 5 to themovable attaching element 3.

The device further has preferably, two immovable attaching elementswhich are identified with reference numeral 6. The immovable attachingelements 6 are connected with the housing 1 so that they can not movelongitudinally relative to the housing. However, they can turn andsomewhat shift in a plane extending perpendicular to the direction ofthe movement of the housing As a result, the transverse size of thedevice adjusts to changes of an inner diameter of the intestine, andtheir abutment against the walls of the intestine is very efficient,even if the intestine can have different diameters. FIG. 4 a shows theposition of the immovable attaching elements 6 in an intestine having adiameter 20 mm, while FIG. 4 b shows a position of the immovableattaching elements in an intestine having a diameter of 60 mm.

FIGS. 2 a, 2 b and 3 show the connection of the immovable attachingelements 6. First, they are connected to an intermediate plate 7 bycylindrical pins 8 which are inserted into openings of lugs 9 of theintermediate plate. The dimensions of the pins and the openings areselected to allow free turning of the movable attaching elements over acertain angle. The plate 7 is mounted on the housing 1 so that its sideprojections 10 are inserted into grooves 11 as shown in FIG. 3. On thisfigure a front part is removed to show the grooves 11, in which theintermediate plate 7 can move in a direction shown by the arrows. Thecombination of these two degrees of freedom, namely turning anddisplacement, allows the immovable attaching elements 6, which areimmovable in the longitudinal direction relative to the housing, toslide along the wall or intestine and change their position depending onits diameter. The transverse deformation of intestine and the resultingproblems are therefore minimal.

Each of the attaching elements 3 and 6 is formed as a hollow body withan opening provided in its one wall and extending substantially over awhole surface facing the wall of the intestine. The hollowly body can becup-shaped with a convex wall that contains the opening. The opening isprovided with an element which prevents sucking of the intestine wallinto the interior of the attaching element and at the same timeincreases adherence with the intestine wall. As shown in FIGS. 1 b and 5a this element can be formed as a convex grate 12 which is orientedperpendicular to the direction of movement of the housing and is adaptedto be in contact with the intestine wall. It also can be formed as aperforated plate 25 with openings shown in FIG. 5 b, or as a ribbedassembly shown in FIG. 5 c.

The attaching elements 3 and 6 are connected with the control block byelastic houses 13, through which alternatingly vacuum and pressure aresupplied to the attaching elements.

The inventive device operates in the following manner, as schematicallyshown in FIG. 6, which shows displacement of the device over one cycle.

In step 1 the movable attaching element 3 is located in a rear positionas seen in the direction of movement of the device and is supplied withpressure so that it is not attached to the intestine wall, while theimmovable attaching elements 6 are provided with vacuum and attached tothe intestine wall.

In step 2 the cable 5 of the movable attaching element 3 moves forwardand therefore the movable attaching element 3 is moved to its forwardposition.

In step 3 vacuum is supplied to the movable attaching element 3 and itis attached to the intestine wall, or in other words it is fixed in thisposition.

In step 4 pressure is supplied to the immovable attaching elements 6 andthey are detached from the intestine wall.

In step 5 the cable 5 of the movable attaching element 3 is displacedrearwardly so that the housing 1 is moved forwardly by one step.

In step 6 vacuum is supplied into the immovable attaching elements 6,and they are attached to the intestine wall so as to fix a new positionof the device relative to the intestine wall. This represents the end ofthe cycle.

In step 7 a pressure is supplied into the movable attaching element 3,and the cycle is repeated again.

It is believed to be clear that in accordance with the presentinvention, first for example the immovable attaching elements 6 areattached to the wall of the intestine, then the movable attachingelement 3 is moved forwardly of the immovable attaching element 6leaving them behind and is attached to the wall, then the immovableattaching elements 6 are moved forwardly of the movable attachingelement 3 leaving it behind, etc. This is achieved by the correspondinggenerating of vacuum and pressure by the corresponding source means. Itis believed to be also understood that the movable attaching element 3which is located substantially coaxially with an axis of the housing 1of the device, and the immovable attaching elements which are located atboth sides of the axis of the housing 1 and laterally spaced from theaxis, are attachable to different locations or areas of the wall of theintestine as considered in a direction transversely to the axis, whichis very important to avoid traumatizing of the wall of the intestine.

It is possible that the immovable attaching elements are also movablerelative to the housing.

The attaching elements can be also displaced automatically continuously,or discontinuously in a stepped manner.

The device therefore moves step by step along the intestine. By changingthe order of the steps, the device can move in an opposite direction.

As mentioned herein above, the movement of the device along theintestine is accompanied by a cyclic attachment of the vacuum-typeattaching elements to its walls. The walls of intestine are covered witha great quantity of mucus. Under the action of vacuum, in each cycle ofattachment a part of mucus is introduced into the attaching elements andthen into thin pipes, along which vacuum/pressure is supplied. The mucuscan clog the attaching elements and the pipes.

In order to avoid this, the device in accordance with the presentinvention is provided with a self-cleaning hydro-pneumatic system ofsupply of vacuum/pressure into the attaching elements, which is shown inFIG. 7. This figure does not illustrate additional parts such asmonitors, receivers, safety valves, etc., and shows only those elementswhich are important for the operation of the device.

As explained herein above, the device is moved by means of the attachingelements, in which, in a certain sequence shown in FIG. 5, the vacuumand pressure are supplied. The vacuum and pressure are providedcorrespondingly by a compressor and a vacuum pump located in a controlbox and supplied into the attaching elements along elastic pipes or amain elastic tube. FIG. 1 b shows the pipes identified with referencenumeral 13. The pipes extended through valves formed by solenoids 21-24.The location of the pipes relative to the solenoid is selected so thatwhen the solenoid is not supplied with power, its core does not touchthe pipe. The solenoid 23 and the solenoid 24 are shown, in thisparticular condition, and as a result vacuum is supplied to theattaching elements. When power is not supplied to the solenoid, its coreis moved out of the housing of the solenoid and squeezes the pipe asshown in the example of the solenoid 21 and 22. It blocks supply ofvacuum into the attaching elements.

The control box is provided with an electronic board which is not shownin the drawings and which provides the operation of the solenoids inautomatic mode, as well as in manual mode by means of buttons located onthe panel of the block.

The prevention of clogging of the attaching elements and elastic pipeswith mucus sucked from the walls of the intestine is carried out byintroduction into the attachment elements of a washing liquid, in thesimplest case-water. Since the movement of the device is accompanied bycyclic alternating operation of vacuum/pressure in the pipes, the liquidlocated in them performs a reciprocating movement and dissolves mucuswhich is sucked from the walls of the intestine. By selecting of acorresponding ratio of the vacuum/pressure, in addition to thereciprocating movement it is possible to provide its predominantdisplacement in a direction from the attaching elements to a vacuumpump. The system also includes a filter which prevents introduction ofthis liquid into the areas in which the corresponding operation can bedisturbed. FIG. 7 shows a system operating in accordance with thisprinciple. Parallel to each of the pipes—the main elastic tube,connected to the attaching elements, an additional elastic tube isintroduced. This tube is identified with reference numeral 14 in FIG. 1a. The additional elastic tube can be located both inside the mainelastic tube, and also outside the main elastic tube as shown in FIG. 7.The inner diameter of this tube must be 8-10 times smaller than the mainelastic tube. One end of each additional tube is introduced into theinterior of the attaching element, while the other end is introducedinto a vessel located in the control box and filled with water or aspecial liquid for washing. The water is under atmospheric pressure.

When the system starts operating, then inside the main elastic tubealong all its length from the attaching elements to the vacuum pipe, azone of reduced pressure is generated. As a result, the liquid from thevessel in the control box is aspirated through the additional elastictube to the place where this tube ends, or in other words into theattaching element and further into the main elastic tube. This isexactly the place where mucus is accumulated.

The influence of supply of this liquid on the operation of the attachingelements connected with the displacement of the device along theintestine is insignificantly low because the additional elastic tube hasa very small diameter. Since during the operation of the system, thevacuum and pressure in the attaching element change in a cyclic manner,the liquid performs small reciprocating movements which dilutes mucus.As explained above, with a certain ratio of vacuum/pressure, the mucouswill flow in a direction from the attaching elements to the vacuum pump.A water filter is used to prevent entry of the liquid and mucus into thevacuum pump, and this water filter removes liquid and mucous from thesystem.

The water filter is formed as a vertically located hermetically closedcontainer with two pipes in its upper part. One pipe is connected withthe attaching elements from which air and diluted mucus are sucked,while the other pipe is connected with the vacuum pump. Under the actionof the vacuum pump, air is sucked from one pipe to the other, whileliquid and mucus are moved downwardly under the action of force ofgravity. The direction of movement of air and liquid are shown byarrows.

The additional elastic tube can be also located inside the main elastictube as shown in FIG. 8 a, or it can be an integral part of the maintube as shown in FIG. 8 b.

As explained herein above, the device carries standard video equipmentand operation instruments which are used in gastroenterology. Theseelements must be connected with the device. FIG. 9 shows the device withthe head 16 of a videocamera, which is formed as a separate structuralelement. It is fixed to the housing 1 of the device by two elastic rings15, which hold the cable 27 that connects the head with the videocameralocated in the control block.

The head of the videocamera can be formed integrally with the device asshown in FIG. 10. The head 28 of the of the videocamera is located inthe front part 29 of the housing of the device and make one-piece withit. In this embodiment the cable which connects the head with thevideocamera has a permanent connection 30 with the housing of thedevice. The system for visual diagnostics of intestine with the use ofthe device is shown in FIG. 11. The system includes a plug 31 forconnection to the device.

A control block 32, a long elastic hose 33 and a personal computer 34.The control block contains a pneumatic equipment which allows thedisplacement of the device inside the intestine. The videocamera islocated in the same area, and its output is connected to the personalcomputer. The device is connected with the control block by a hose withthe length of substantially 2 m which allows it to completelyinvestigate the whole intestine. The hose incorporates all communicatesbetween the device and the control block: the pipes, the transmission,the cable for the head of the videocamera, etc.

The device can be composed of materials allowing it to be disposable. Itcan be formed as a modular device assembled of individual elements, oras a one-piece integral device. Also, several devices can be connectedwith one another in succession.

It will be understood that each of the elements described above, or twoor more together, may also find a useful application in other types ofconstructions differing from the type described above.

While the invention has been illustrated and described as embodied in anendoscopic device insertable into a body cavity movable in apredetermined direction, it is not intended to be limited to the detailsshown, since various modifications and structural changes may be madewithout departing in any way from the spirit of the present invention.

Without further analysis, the foregoing will so fully reveal the gist ofthe present invention that others can, be applying current knowledge,readily adapt it for various applications without omitting featuresthat, from the standpoint of prior art, fairly constitute essentialcharacteristics of the generic or specific aspects of this invention.

1. An endoscopic device insertable into a body cavity movable in apredetermined direction, comprising a housing having an axis extendingin a direction substantially corresponding to a direction of movement ofthe device; movable attaching means which is movable relative to saidhousing and is attachable to a wall of the body cavity under the actionof vacuum in an interior of said movable attaching means and detachablefrom the wall of the cavity under the action of pressure provided in theinterior of said movable attaching means; and immovable attaching meanswhich is immovably connected with said housing and is attachable to awall of the body cavity under the action of vacuum in an interior ofsaid immovable attaching means and detachable from the wall of thecavity under the action of pressure provided in the interior of saidimmovable attaching means, said immovable attaching means and saidmovable attaching means being alternatingly attachable to the wall ofthe cavity; so that when said movable attaching means is attached to thewall of the cavity and said immovable attaching means is not attached tothe wall of the cavity, said housing can be displaced in the directionof movement, while when said immovable attaching means is attached tothe wall of the cavity, said movable attaching means can be displaced ina longitudinal direction without displacement of said housing, saidmovable attaching means and immovable attaching means being arranged sothat they are attachable to different locations on the wall of theintestine as considered in a direction transverse to said axis of saidhousing.
 2. An endoscopic device as defined in claim 1, wherein one ofsaid movable and immovable attaching means including one first attachingelement extending substantially coaxially with said axis of said housingand centrally of the latter, while the other of said movable andimmovable attaching means including at least two second attachingelements which are located at opposite sides of said axis of saidhousing laterally of the latter.
 2. An endoscopic device as defined inclaim 1, wherein each of said attaching elements has a cup-shaped formwith one convex side provided with an opening to be in contact with awall of an intestine.
 3. An endoscopic device as defined in claim 1,wherein each of said attaching elements has a side provided with anopening an adapted to face a wall of an intestine, said side of each ofsaid attaching elements being provided with an element preventingintroduction of the wall of intestine into said attaching element underthe action of vacuum.
 4. An endoscopic device as defined in claim 3,wherein said element is an element selected from the group consisting ofa grate, a perforated wall, and a ribbed assembly.
 5. An endoscopicdevice as defined in claim 1, wherein at least some of said attachingelements are movable in a direction transverse to said axis foradaptation to sides of intestine.
 6. An endoscopic device as defined inclaim 1; and further comprising means for removing mucus from saidattaching elements.
 7. An endoscopic device as defined in claim 6,wherein said means for removing mucus include means for supplying aliquid into said attaching elements
 8. An endoscopic device as definedin claim 1; and further comprising means for creating a vacuum andpressure in said attaching elements and including pipe means.
 9. Anendoscopic device as defined in claim 7; and further comprising meansfor creating a vacuum and pressure in said attaching elements andincluding pipe means, said liquid supplying means including liquidsupplying pipes selected from the group consisting of liquid supplyingpipes separate from said pipe means and liquid supplying pipes integralwith the latter.
 10. An endoscopic device as defined in claim 1; andfurther comprising means for supplying vacuum and pressure into each ofsaid attaching elements and selected from the group consisting ofpneumatic, hydraulic, and hydropneumatic means.
 11. An endoscopic deviceas defined in claim 1; and further comprising means for supplying vacuumand pressure in said attaching elements including means for supplyingwashing liquid into said attaching elements and means for filtration ofwashing liquid.
 12. An endoscopic device as defined in claim 1; andfurther comprising means for displacing said housing and selected fromthe group consisting of means arranged in said housing and means locatedoutside of said housing and connected with the latter by a flexibleconnection.
 13. An endoscopic device as defined in claim 1; and furthercomprising means for displacing said housing in a manner selected fromthe group consisting of automatic mode and a stepped mode, and in adirection selected from the group consisting of a forward direction anda reverse direction.
 14. An endoscopic device as defined in claim 1,wherein the device is composed of a material allowing the device to bedisposable.
 15. An endoscopic device as defined in claim 1, wherein allcomponents of the device are connectable with one another to jointlyfrom the device.
 16. An endoscopic device as defined in claim 1, whereinall components of the device are formed of one-piece with one another.17. An endoscopic device insertable into a body cavity movable in apredetermined direction, comprising a housing having an axis extendingin a direction substantially corresponding to a direction of movement ofthe device; first attaching means which is attachable to a wall of thebody cavity under the action of first in an interior of said movableattaching means and detachable from the wall of the cavity under theaction of pressure provided in the interior of said first attachingmeans; second attaching means which is attachable to a wall of the bodycavity under the action of vacuum in an interior of said secondattaching means and detachable from the wall of the cavity under theaction of pressure provided in the interior of said second attachingmeans, said first attaching means and said second attaching means beingalternatingly attachable to the wall of the cavity; so that and meansfor alternating attaching said first attaching means and said secondattaching means to the wall of the cavity one of said attaching means isattached to the wall of the cavity, then the other of said attachingmeans is moved forwardly of said one attaching means behind, then theone of said attaching means is moved forwardly of said other attachingmeans behind, etc.
 18. A method of inserting an endoscopic device into abody cavity and moving in a predetermined direction, comprising thesteps of providing a housing having an axis extending in a directionsubstantially corresponding to a direction of movement of the device;providing first attaching means which is movable relative to saidhousing and is attachable to a wall of the body cavity under the actionof vacuum in an interior of said first attaching means and detachablefrom the wall of the cavity under the action of pressure provided in theinterior of said first attaching means; providing second attaching meanswhich is attachable to a wall of the body cavity under the action ofvacuum in an interior of said second attaching means and detachable fromthe wall of the cavity under the action of pressure provided in theinterior of said second attaching means; alternating attaching saidfirst attaching means and said second attaching means to the wall of thecavity by attaching one of said attaching means to the wall of thecavity, then moving the other of said attaching means forwardly of saidone attaching means to leave said one attaching means behind, thenmoving said one attaching means forwardly of said other attaching meansto leave said other attaching means behind, etc.